An Ultralight Air-Ground Vehicle Capable of Sustained Amphibious Maneuverability and Bio-inspired Modality Transition

This work presents a 5.2g ultra-lightweight air-ground vehicle capable of passive stable flying and terrestrial cruising. Such a design proposes a passive stability layout, including a single-axis rotor, film dampers, and a stabilizer bar. The advantageous synergy between the rotor and the passive stability components significantly reduces the mass required for stable flight control, representing only
$4.2 \%$
of the total vehicle weight. Overcoming challenges posed by low Reynolds number flight, the vehicle achieves stable flight without the added weight of extra sensors, actuators, and control surfaces. A turtle shell-inspired frame has been adopted to enable terrestrial self-righting functionality, performing seamless conversion during the air-ground mode switch. Experimental validation confirms the effectiveness of the proposed passive stabilization design. The tested vehicle demonstrates 330s stable flight with just 5.2g total weight. In addition, the bio-inspired turtle shell version successfully achieves self-righting and validates the capability of air-ground mode transition. The proposed vehicle shows the robustness of air-ground maneuvering and mode switching, promising to broaden the applications in complex environments.